Control method, apparatus, and device, and UAV

ABSTRACT

A control method includes obtaining one or more attitude parameters of a gimbal of a UAV and adjusting one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal. The UAV includes a vehicle body, and a power system and the gimbal that are provided at the vehicle body. The power system includes a motor and a propeller and is configured to provide flight power for the UAV. The gimbal is configured to connect a photographing device to the vehicle body. Adjusting the one or more attitude parameters of the UAV includes adjusting a yaw parameter of the UAV according to the yaw parameter of the gimbal. Adjusting the yaw parameter of the UAV includes controlling the UAV to rotate in a yaw direction according to the yaw parameter of the gimbal, to cause the UAV to rotate along with the gimbal.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.16/457,305, filed on Jun. 28, 2019, now U.S. Pat. No. 11,216,013, whichis a continuation of International Application No. PCT/CN2016/113762,filed on Dec. 30, 2016, the entire contents of both of which areincorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to unmanned aerial vehicle (UAV)technology and, more particularly, to a control method, apparatus, anddevice, and a UAV.

BACKGROUND

An unmanned aerial vehicle (UAV) is provided with a gimbal and thegimbal is provided with a photographing device, such as a camera, avideo recorder, or the like. By adjusting the attitude of the gimbal,such as the pitch angle and the yaw angle, the photographing device isin different attitudes and shoots images or videos from differentperspectives.

Currently, the attitude of the gimbal, such as the yaw angle or the rollangle, is adjusted along with the change of the attitude of the UAV. Theground control terminal sends the control command to the UAV and thecontrol command instructs the UAV to adjust the flight attitude, such asthe yaw angle. After the UAV adjusts the attitude of the vehicle bodyaccording to the control command, the attitude of the gimbal is adjustedalong with the change of the attitude of the UAV. As such, on one hand,the control manner of the gimbal is inflexible, on the other hand, theattitude adjustment of the gimbal has a large lag compared to theattitude adjustment of the UAV's vehicle body. In addition, when the UAVstops to adjust the attitude of the vehicle body, the gimbalcontinuously adjusts the attitude under inertia, such that a certainovershoot of the gimbal occurs. As such, the shaking of thephotographing device is induced, the jittering of the photographed imageis caused, and the image quality is reduced.

SUMMARY

In accordance with the disclosure, there is provided a control methodincluding obtaining one or more attitude parameters of a gimbal of anunmanned aerial vehicle (UAV) and adjusting one or more attitudeparameters of the UAV according to the one or more attitude parametersof the gimbal.

Also in accordance with the disclosure, there is provided a controldevice including one or more processors individually or collectivelyconfigured to obtain one or more attitude parameters of a gimbal of anunmanned aerial vehicle (UAV) and adjust one or more attitude parametersof the UAV according to the one or more attitude parameters of thegimbal.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to illustrate the technical solutions of the presentdisclosure, the drawings used in the description of embodiments will bebriefly described. It will be appreciated that the drawings are partrather than all of the drawings of the present disclosure. Otherdrawings conceived by those having ordinary skills in the art on thebasis of the described drawings without inventive efforts should fallwithin the scope of the present disclosure.

FIG. 1 is a flow chart of a control method according to the disclosure.

FIG. 2A schematically shows attitude parameters of a gimbal provided atan unmanned aerial vehicle (UAV).

FIG. 2B schematically shows controlling the UAV to rotate around a yawaxis to move landing gears of the UAV out of a photographing range of aphotographing device provided at the gimbal.

FIG. 2C schematically shows adjusting a pitch angle of the UAV accordingto a pitch angle of the gimbal to move the landing gears of the UAV outof the photographing range of the photographing device provided at thegimbal.

FIG. 3 schematically shows adjusting attitude parameters of a UAVaccording to attitude parameters of a gimbal, such that the gimbal isrotating without stop position.

FIG. 4 is a flow chart of another control method according to thedisclosure.

FIG. 5 is a flow chart of another control method according to thedisclosure.

FIG. 6A schematically shows a gimbal rotating clockwise around a pitchaxis of the gimbal.

FIG. 6B schematically shows a UAV rotating clockwise around a pitch axisof the UAV.

FIG. 7 is a flow chart of another control method according to thedisclosure.

FIG. 8 is a flow chart of another control method according to thedisclosure.

FIG. 9 is a flow chart of another control method according to thedisclosure.

FIG. 10 is a structural diagram of a control apparatus according to thedisclosure.

FIG. 11 is a structural diagram of another control apparatus accordingto the disclosure.

FIG. 12 is a structural diagram of another control apparatus accordingto the disclosure.

FIG. 13 is a structural diagram of another control apparatus accordingto the disclosure.

FIG. 14 is a structural diagram of a control device according to thedisclosure.

FIG. 15 is a structural diagram of a UAV according to the disclosure.

DESCRIPTION OF MAIN COMPONENTS AND REFERENCE NUMERALS

-   roll axis 1-   pitch axis 2-   yaw axis 3-   propeller 11-   UAV's vehicle body 12-   landing gear 13-   gimbal 14-   photographing device 15-   photographing lens 16-   photographing range 18-   optical axis direction 17-   target object 20-   UAV 60-   nose direction 61-   nose 63-   clockwise arc 64-   counterclockwise arc 65-   photographing direction 66-   control apparatus 70-   acquisition circuit 71-   control circuit 72-   receive circuit 73-   control apparatus 80-   receive circuit 81-   control circuit 82-   acquisition circuit 83-   control device 90-   processor 91-   communication interface 92-   UAV 100-   motor 107-   propeller 106-   electronic governor 117-   control device 118-   sensor system 108-   communication system 110-   support device 102-   photographing device 104-   ground station 112-   antenna 114-   electromagnetic waves 116

DETAILED DESCRIPTION OF THE EMBODIMENTS

Technical solutions of the present disclosure will be described withreference to the drawings. It will be appreciated that the describedembodiments are part rather than all of the embodiments of the presentdisclosure. Other embodiments conceived by those having ordinary skillsin the art on the basis of the described embodiments without inventiveefforts should fall within the scope of the present disclosure.

As used herein, when a first component is referred to as “fixed to” asecond component, it is intended that the first component may bedirectly attached to the second component or may be indirectly attachedto the second component via another component. When a first component isreferred to as “connecting” to a second component, it is intended thatthe first component may be directly connected to the second component ormay be indirectly connected to the second component via a thirdcomponent between them.

Unless otherwise defined, all the technical and scientific terms usedherein have the same or similar meanings as generally understood by oneof ordinary skill in the art. As described herein, the terms used in thespecification of the present disclosure are intended to describe exampleembodiments, instead of limiting the present disclosure. The term“and/or” used herein includes any suitable combination of one or morerelated items listed.

Example embodiments will be described with reference to the accompanyingdrawings. In the situation where the technical solutions described inthe embodiments are not conflicting, they can be combined.

FIG. 1 is a flow chart of an example control method consistent with thedisclosure.

As shown in FIG. 1 , at S101, attitude parameters of a gimbal providedat an unmanned aerial vehicle (UAV) are obtained.

FIG. 2A schematically shows the attitude parameters of the gimbal 14provided at the UAV. As shown in FIG. 2A, a nose of the UAV is denotedas 10, propellers are denoted as 11, a vehicle body of the UAV isdenoted as 12, the gimbal provided at the UAV is denoted as 14, aphotographing device carried by the UAV is denoted as 15, thephotographing device 15 is connected to the vehicle body 12 of the UAVvia the gimbal 14, a photographing lens (also simply referred to as a“lens”) of the photographing device 15 is denoted as 16, an optical axisdirection of the photographing lens 16 is denoted as 17, a photographedtarget object of the photographing lens 16 is denoted as 20, and theoptical axis direction 17 points to the photographed target object 20and denotes a photographing direction of the photographing device 15.

In some embodiments, the gimbal 14 can be a three-axis gimbal. That is,the gimbal 14 can rotate around a roll axis, a pitch axis, and a yawaxis. As shown in FIG. 2A, the roll axis of the gimbal is denoted as 1,the pitch axis of the gimbal is denoted as 2, and the yaw axis of thegimbal is denoted as 3. When the gimbal rotates around the roll axis 1,i.e., the roll axis 1 is taken as the rotation axis, a roll angle of thegimbal changes. When the gimbal rotates around the pitch axis 2, i.e.,the pitch axis 2 is taken as the rotation axis, a pitch angle of thegimbal changes. When the gimbal rotates around the yaw axis 3, i.e., theyaw axis 3 is taken as the rotation axis, a yaw angle of the gimbalchanges. When the gimbal 14 rotates around one or more of the roll axis,the pitch axis, and the yaw axis of the gimbal 14, the photographingdevice 15 can rotate along with the rotation of the gimbal 14, such thatthe photographing device 15 can photograph the target object 20 fromdifferent photographing directions and photographing angles.

In some embodiments, the executing entity can be a flight controller ofthe UAV or a control circuit having processing capacity. In someembodiments, the attitude parameters of the gimbal can include one ormore of yaw parameters, pitch parameters, and roll parameters. The yawparameters can include the yaw angle of the gimbal or a yaw rotationspeed of the gimbal, for example, an angular velocity of the gimbal 14rotating around the yaw axis. The pitch parameters can include the pitchangle of the gimbal 14 or a pitch rotation speed of the gimbal 14, forexample, an angular velocity of the gimbal 14 rotating around the pitchaxis. The roll parameters can include the roll angle of the gimbal 14 ora roll rotation speed of the gimbal 14, for example, an angular velocityof the gimbal rotating around the roll axis.

In some embodiments, after the gimbal rotates, one or more attitudeangles of the gimbal after the rotation, such as one or more of the yawangle, the pitch angle, and the roll angle, can be sent to the flightcontroller of the UAV. The flight controller of the UAV can alsoactively acquire the attitude angles of the gimbal after the rotation,such as one or more of the yaw angle, the pitch angle, and the rollangle. During the rotation of the gimbal, the rotation speed of thegimbal in the rotation direction can also be sent to the flightcontroller of the UAV. For example, when the gimbal 14 rotates aroundthe yaw axis, i.e., the gimbal rotates in the yaw direction, the gimbalcan send the yaw angle to the flight controller of the UAV in real timeand can also send the angular velocity of the gimbal 14 rotating aroundthe yaw axis to the flight controller. Similarly, the gimbal 14 can sendthe angular velocity of the gimbal 14 rotating around the pitch axis orrotating around the roll axis to the flight controller.

At S102, attitude parameters of the UAV are adjusted according to theattitude parameters of the gimbal.

When the UAV is flying, the attitude parameters of the UAV can includeone or more of yaw parameters, pitch parameters, and roll parameters.The yaw parameters can include a yaw angle of the UAV or a yaw rotationspeed of the UAV, for example, an angular velocity of the UAV rotatingaround the yaw axis. The pitch parameters can include a pitch angle ofthe UAV or a pitch rotation speed of the UAV, for example, an angularvelocity of the UAV rotating around the pitch axis. The roll parameterscan include a roll angle of the UAV or a roll rotation speed of the UAV,for example, an angular velocity of the UAV rotating around the rollaxis. In some embodiments, the flight controller of the UAV can adjustthe attitude parameters of the UAV, according to the attitude parametersof the gimbal 14.

As shown in FIG. 2A, a center of the vehicle body 12 of the UAV isdenoted as o, and the center can be a centroid of the UAV. A directionthrough the center o and pointing to the nose of the UAV 10 is the Xaxis of a vehicle body coordinate system corresponding to the UAV and isdenoted by arrow 4. A direction through the center o and pointing to aright side of the vehicle body 12 of the UAV is the Y axis of thevehicle body coordinate system and is denoted by arrow 5. A directionthrough the center o and pointing to a bottom side of the vehicle body12 of the UAV is the Z axis of the vehicle body coordinate system and isdenoted by arrow 6. The X-axis, Y-axis, and Z-axis of the vehicle bodycoordinate system follow the right-hand rule. The X axis of the vehiclebody coordinate system is the roll axis of the UAV, the Y axis of thevehicle body coordinate system is the pitch axis of the UAV, and the Zaxis of the vehicle body coordinate system is the yaw axis of the UAV.

The flight controller adjusting the attitude parameters of the UAV basedon the attitude parameters of the gimbal 14 can include the followingimplementation manners.

An implementation manner is that the one or more of the yaw parameters,the pitch parameters, and the roll parameters of the UAV can becontrolled, according to the one or more of the yaw parameters, thepitch parameters, and the roll parameters of the gimbal.

In some embodiments, the flight controller can adjust the yaw parametersof the UAV according to the yaw parameters of the gimbal, adjust thepitch parameters of the UAV according to the pitch parameters of thegimbal, and/or adjust the roll parameters of the UAV according to theroll parameters of the gimbal.

For example, when the gimbal 14 rotates around the yaw axis of thegimbal 14, the flight controller can control the UAV to rotate alongwith the rotation of the gimbal 14. That is, the vehicle body of the UAVcan also be controlled to rotate around the yaw axis of the UAV. In someembodiments, the angular velocity of the UAV rotating around the yawaxis of the UAV can be adjusted according to the angular velocity of thegimbal 14 rotating around the yaw axis of the gimbal 14. In someembodiments, when the gimbal 14 rotates around the yaw axis of thegimbal 14, the yaw angle of the UAV can be adjusted in real timeaccording to the yaw angle of the gimbal 14. Similarly, when the gimbalrotates around the roll axis or the pitch axis of the gimbal, thevehicle body of the UAV can be controlled to rotate around the roll axisor the pitch axis of the UAV.

In some embodiments, when the gimbal rotates around the roll axis andthe pitch axis of the gimbal, the vehicle body of the UAV can becontrolled to rotate around the roll axis and the pitch axis of the UAV.

In some other embodiments, when the gimbal rotates around the roll axisand the pitch axis of the gimbal, the vehicle body of the UAV can becontrolled to rotate only around the roll axis of the UAV or to rotateonly around the pitch axis of the UAV. The specific control method canbe selected by a person skilled in the art and is not intended to limitherein.

Another implementation manner is that the attitude parameters of the UAVcan be adjusted according to the attitude parameters of the gimbal, suchthat landing gears of the UAV are outside the photographing range of thephotographing device provided at the gimbal.

In some embodiments, as shown in FIG. 2A, the UAV is provided with thelanding gears 13. When the UAV lands, the landing gears 13 can act as abuffer to allow the UAV to land safely. The length of the landing gears13 can be greater than a distance of the photographing device 15 from abottom of the vehicle body 12 of the UAV to prevent the gimbal 14 and/orthe photographing device 15 from touching the ground and being damaged.Because the landing gears 13 of the UAV can be fixed, when the UAV isperforming an aerial photography and the gimbal 14 is rotating aroundthe one or more of the roll axis 1, the pitch axis 2, and the yaw axis 3of the gimbal 14, the landing gears 13 can be within the photographingrange 18 of the photographing device 15, such that the photographingdevice 15 can shoot the landing gears 13, as shown in FIG. 2A.Therefore, the flight controller can adjust the yaw parameters of theUAV, according to the yaw parameters of the gimbal 14. For example, whenthe gimbal 14 is rotated around the yaw axis 3 of the gimbal, the flightcontroller can control the UAV to also rotate with the yaw axis of theUAV and the landing gears 13 can rotate as the UAV rotates, such thatthe landing gears 13 of the UAV can be moved out of the photographingrange 18 of the photographing device 15, and the photographing device 15can be prevented from photographing the landing gears 13. FIG. 2Bschematically shows controlling the UAV to rotate around the yaw axis 3to move the landing gears 13 of the UAV out of the photographing range18 of the photographing device 15 provided at the gimbal 14. As shown inFIG. 2B, the flight controller controls the UAV to rotate around the Zaxis of the vehicle body coordinate system (denoted by arrow 6), i.e.,the yaw axis is the rotation axis. As shown in FIGS. 2A and 2B, theattitudes of the gimbal 14 and the photographing device 15 remainunchanged, when the UAV rotates around the Z axis 6 of the vehicle bodycoordinate system, the landing gears 13 rotates along with the vehiclebody of the UAV and rotates out of the photographing range 18 of thephotographing device 15.

As another example, when the gimbal rotates around the pitch axis 2 ofthe gimbal 14, the flight controller can control the UAV to also rotatearound the pitch axis 2 of UAV, such that the landing gears 13 rotatesalong with the UAV and the photographing device 15 can be prevented fromphotographing the landing gears 13. As shown in FIG. 2A, if the pitchangle of the gimbal is θ1, the landing gears 13 are within thephotographing range 18 of the photographing device 15. In thissituation, the flight controller can also adjust the pitch angle of theUAV based on the pitch angle of the gimbal θ1. FIG. 2C schematicallyshows adjusting the pitch angle of the UAV according to the pitch angleof the gimbal 14 to move the landing gears 13 of the UAV out of thephotographing range 18 of the photographing device 15 provided at thegimbal 14. As shown in FIG. 2C, according to the pitch angle of thegimbal θ1, the pitch angle of the UAV is controlled to be θ2. When theUAV is controlled to raise the nose, the landing gears 13 of the UAV areraised along with the nose of the UAV, such that the landing gears 13are outside the photographing range 18 of the photographing device 15and the photographing device 15 is prevented from photographing thelanding gears 13. In some embodiments, the flight controller can alsocontrol the UAV to rotate in the pitch direction, according to theangular velocity of the gimbal rotating around the pitch axis, such thatthe landing gears 13 can be outside the photographing range 18 of thephotographing device 15.

In addition, according to the attitude parameters of the gimbal, the yawparameters and the pitch parameters of the UAV can be adjusted at thesame time, such that the landing gears can be outside the photographingrange of the photographing device.

Therefore, in a photographing process, the UAV can automatically adjustthe attitude parameters of the UAV according to the attitude parametersof the gimbal, thereby ensuring the landing gears of the UAV to beoutside the photographing screen. The user does not need to manuallyadjust the attitude of the UAV, such that the operation process can besimplified and the professional requirements for the user can bereduced.

Another implementation manner is that the attitude parameters of the UAVare adjusted according to the attitude parameters of the gimbal, suchthat there is no stop position when the gimbal is rotating.

FIG. 3 schematically shows adjusting the attitude parameters of a UAV 60according to the attitude parameters of the gimbal, such that the gimbalis rotating without stop position. In the example shown in FIG. 3 , afour-rotor UAV is depicted as an example of the UAV 60. The nose of theUAV 60 is denoted as 63, a current orientation of the nose 63 is denotedas 61, and a photographing device carried by the UAV 60 is denoted as15. The photographing device 15 is provided at the UAV 60 via a gimbal(not shown). Further, a current photographing direction of thephotographing device 15 is denoted as 66, the photographed target objectis denoted as 20, and the photographing device 15 follows thephotographed target object 20.

It is not intended to limit a position of the photographing device 15with respect to the vehicle body of the UAV 60. The photographing device15 can be provided at an upper side of the UAV 60 or can be provided ata bottom side of the UAV 60.

As shown in FIG. 3 , a center of the vehicle body of the UAV 60 isdenoted as o. The X axis of a vehicle body coordinate systemcorresponding to the UAV 60 passes through the center o and points tothe nose 63 of the UAV 60. The Y axis of the vehicle body coordinatesystem passes through the center o and points to a right side of thevehicle body of the UAV 60. The Z axis (not shown) of the vehicle bodycoordinate system passes through the center o and points to a bottomside of the vehicle body of the UAV 60. The X-axis, Y-axis, and Z-axisof the vehicle body coordinate system follow the right-hand rule. The Xaxis of the vehicle body coordinate system is the roll axis of the UAV60, the Y axis of the vehicle body coordinate system is the pitch axisof the UAV 60, and the Z axis of the vehicle body coordinate system isthe yaw axis of the UAV 60.

Because the photographing device and the gimbal are connected via atransmission wire, the gimbal cannot rotate indefinitely around the oneor more of the roll axis, the pitch axis, and the yaw axis of thegimbal. That is, when the gimbal rotates around the roll axis, thegimbal has a stop angle of the gimbal rotating around the roll axis,when the gimbal rotates around the pitch axis, the gimbal has a stopangle of the gimbal rotating around the pitch axis, and when the gimbalrotates around the yaw axis, the gimbal has a stop angle of the gimbalrotating around the yaw axis. Taking the stop angle of the gimbalrotating around the yaw axis as an example, the stop angle of the gimbalwith the yaw axis is referred to as a stop angle of the yaw axis of thegimbal.

The stop angle of the yaw axis of the gimbal refers to, when the gimbalrotates around the yaw axis, a maximum angle at which the gimbal canrotate relative to the nose in the yaw direction. In some embodiments,the stop angle of the yaw axis can be +360° or −360°. That is, thephotographing direction of the photographing device 15 provided at thegimbal can only be rotated counterclockwise 360° or clockwise 360°around the yaw axis of the gimbal in the yaw direction. Assume anegative direction refers to rotating counterclockwise from a positivedirection of the X axis and a positive direction refers to rotatingclockwise from the positive direction of the X axis. The photographingdirection of the photographing device 15 can be rotated from thepositive direction of the X-axis, i.e., a 0° direction, counterclockwiseback to the positive direction of the X-axis, i.e., −360° or can berotated from the positive direction of the X-axis, i.e., the 0°direction, clockwise back to the positive direction of the X-axis, i.e.,+360°.

In some embodiments, when the gimbal rotates around the yaw axis of thegimbal and drives the photographing direction of the photographingdevice 15 to be rotated from the positive direction of the X axis, thatis, the 0° direction, in the clockwise direction as shown by an arc 64,the flight controller can obtain the yaw parameters of the gimbal inreal time, or the gimbal can send the yaw parameters to the flightcontroller in real time. The yaw parameters can include at least one ofthe yaw angle or the yaw rotation speed. The flight controller cancontrol the UAV 60 to also rotate in the clockwise direction as shown bythe arc 64, according to the yaw parameters, such that the stop angle of+360° can be avoid when the gimbal rotates around the yaw axis.

Similarly, when the gimbal rotates around the yaw axis of the gimbal anddrives the photographing direction of the photographing device 15 torotate from the positive direction of the X axis, that is, the 0°direction, in the counterclockwise direction as shown by an arc 65, theflight controller can obtain the yaw parameters of the gimbal in realtime, or the gimbal can send the yaw parameters to the flight controllerin real time. The yaw parameters can include at least one of the yawangle or the yaw rotation speed. The flight controller can control theUAV 60 to also rotate in the counterclockwise direction as shown by thearc 65, according to the yaw parameters, such that the stop angle of−360° can be avoid when the gimbal rotates around the yaw axis.

According to the disclosure, the attitude parameters of the gimbalprovided at the UAV can be obtained and the attitude parameters of theUAV can be adjusted according to the attitude parameters of the gimbal,such that there is no stop position when the gimbal is rotating in oneor more of the yaw direction, the pitch direction, and the rolldirection of the gimbal. In addition, the attitude parameters of the UAVcan be adjusted according to the attitude parameters of the gimbal,thereby ensuring the landing gears of the UAV to be outside thephotographing screen. The user does not need to manually adjust theattitude of the UAV, such that the operation process can be simplifiedand the professional requirements for the user can be reduced.

FIG. 4 is a flow chart of another example control method consistent withthe disclosure. As shown in FIG. 4 , at S401, the yaw parameters of thegimbal provided at the UAV are obtained.

In some embodiments, a ground control terminal, for example, a remotecontroller, can be configured to adjust the yaw parameters of thegimbal. For example, when the user manipulates a yaw lever or a yawbutton of the control terminal, the control terminal can include theremote controller, and the remote controller can generate an amount ofcontrol lever displacement (also referred to as a “control amount”) andsend the amount of control lever displacement to the flight controlleror a control circuit controlling the rotation of the gimbal. When theflight controller or the control circuit receives the amount of controllever displacement sent by the remote controller, the gimbal can becontrolled to rotate around the yaw axis of the gimbal. When the controlcircuit controls the gimbal to rotate around the yaw axis of the gimbal,the control circuit can send the yaw parameters of the gimbal to theflight controller in real time. The yaw parameters can include the yawangle of the gimbal or the yaw rotation speed of the gimbal.

In some embodiments, the photographing device can also perform trackingphotography on a target object. In a course of tracking photography, thegimbal rotates in yaw direction. The flight controller or the controlcircuit controlling the rotation of the gimbal can obtain the yawparameters of the gimbal in real time. The yaw parameter can include atleast one of the yaw angle or the yaw rotation speed.

At S402, the yaw parameters of the UAV are adjusted according to the yawparameters of the gimbal.

After the flight controller obtains the yaw parameters of the gimbal,the yaw parameters of the UAV can be adjusted according to the yawparameters of the gimbal. The flight controller can control the UAV torotate in the yaw direction according to the yaw parameters of thegimbal. That is, the UAV can be controlled to rotate around the yaw axisof the UAV, such that the UAV rotates along with the rotation of thegimbal in the yaw direction.

In some embodiments, when the UAV and the gimbal are rotating aroundtheir own yaw axis, respectively, the rotation direction of the UAV canbe consistent with the rotation direction of the gimbal. The flightcontroller can adjust the yaw angle of the UAV according to the yawangle of the gimbal, such that the yaw angle of the UAV can beconsistent with the yaw angle of the gimbal. In some other embodiments,the flight controller can adjust the yaw rotation speed of the UAVaccording to the yaw rotation speed of the gimbal, such that the yawrotation speed of the UAV can be consistent with the yaw rotation speedof the gimbal.

According to the disclosure, the yaw parameters of the gimbal providedat the UAV can be obtained, the yaw parameters of the UAV can beadjusted according to the yaw parameters of the gimbal, i.e., the yawparameters of the UAV can change passively with the changes of the yawparameters of the gimbal, such that the rotation of the gimbal in theyaw direction will not be limited by the yaw parameters of the UAV, andthe gimbal can rotate in the yaw direction without stop position.Furthermore, compared to the situation that the yaw parameters of thegimbal are changed passively with the changes of the yaw parameters ofthe UAV, the overshoot of the gimbal in the yaw direction due to theinertia when the UAV stops rotating around the yaw axis of the vehiclebody can be avoided, the stability of the photographing device provideon the gimbal can be ensured, and the stability of the photographedimages of the photographing device can be improved.

FIG. 5 is a flow chart of another example control method consistent withthe disclosure. As shown in FIG. 5 , at S501, the pitch parameters ofthe gimbal provided at the UAV are obtained.

In some embodiments, the ground control terminal, for example the remotecontroller, can be configured to adjust the pitch parameters of thegimbal. For example, when the user manipulates a pitch lever or a pitchbutton of the control terminal, the remote controller can generate anamount of control lever displacement (also referred to as a “controlamount”), and send the amount of control lever displacement to theflight controller or the control circuit controlling the rotation of thegimbal. When the flight controller or the control circuit receives theamount of control lever displacement sent by the remote controller, thegimbal can be controlled to rotate around the yaw axis of the gimbal.

When the control unit controls the gimbal to rotate around the pitchaxis of the gimbal, the control circuit can send the pitch parameters ofthe gimbal to the flight controller in real time. The pitch parameterscan include the pitch angle of the gimbal or the pitch rotation speed ofthe gimbal.

In some other embodiments, the photographing device can also performtracking photography on the target object. In the course of trackingphotography, the gimbal rotates in the pitch direction. The flightcontroller or the control circuit controlling the rotation of the gimbalcan obtain the pitch parameters of the gimbal in real time. The pitchparameter can include at least one of the pitch angle or the pitchrotation speed. FIG. 6A schematically shows the gimbal rotatingclockwise around the pitch axis of the gimbal. As shown in FIG. 6A, theroll axis of the gimbal is denoted as 1, the pitch axis of the gimbal isdenoted as 2, and the yaw axis of the gimbal is denoted as 3, a nose ofthe UAV is denoted as 10, one or more propellers are denoted as 11, avehicle body of the UAV is denoted as 12, the gimbal provided at the UAVis denoted as 14, a photographing device carried by the UAV is denotedas 15 (the photographing device 15 is connected to the vehicle body 12of the UAV via the gimbal 14), a photographing lens of the photographingdevice 15 is denoted as 16, an optical axis direction of thephotographing lens 16 is denoted as 17, a photographed target object ofthe photographing lens 16 is denoted as 20, and the optical axisdirection 17 points to the photographed target object 20 and denotes aphotographing direction of the photographing device 15.

At S502, the pitch parameters of the UAV are adjusted according to thepitch parameters of the gimbal.

When the flight controller obtains the pitch parameters of the gimbal,the pitch parameters of the UAV can be adjusted according to the pitchparameters of the gimbal. The flight controller controls the UAV torotate in the pitch direction according to the pitch parameters of thegimbal. That is, the UAV can be controlled to rotate around the pitchaxis of the UAV, such that the UAV rotates along with the rotation ofthe gimbal in the pitch direction. As shown in FIG. 6A, the gimbalrotates clockwise around the pitch axis of the gimbal, as shown by arrow7. In some embodiments, the flight controller can control the UAV torotate clockwise around the pitch axis of the UAV. FIG. 6B schematicallyshows the UAV rotating clockwise around the pitch axis of the UAV. Theclockwise direction can be the direction of the arrow 8 as shown in FIG.6B. As shown in FIG. 6B, when the UAV is controlled to rotate clockwisearound the pitch axis of the UAV, the flight controller can adjust thepitch angle of the UAV 02 to follow the change of the pitch angle of thegimbal θ1, and the pitch angle of the UAV θ2 can be consistent with thepitch angle of the gimbal θ1, such that when the gimbal is rotating inthe pitch direction, the stop position can be avoided. In someembodiments, the pitch angle of the UAV can be not consistent with thepitch angle of the gimbal. It is not intended to limit the controlmanner, and those skilled in the art can select the control manneraccording to actual requirements.

In some other embodiments, the flight controller can also adjust thepitch rotation speed of the UAV, according to the pitch rotation speedof the gimbal, such that the pitch rotation speed of the UAV can beconsistent with the pitch rotation speed of the gimbal.

According to the disclosure, the pitch parameters of the gimbal providedat the UAV can be obtained, the pitch parameters of the UAV can beadjusted according to the pitch parameters of the gimbal, i.e., thepitch parameters of the UAV can change passively with the changes of thepitch parameters of the gimbal, such that the rotation of the gimbal inthe pitch direction will not be limited by the pitch parameters of theUAV, and the gimbal can rotate in the pitch direction without stopposition. Furthermore, compared to the situation that the pitchparameters of the gimbal are changed passively with the changes of thepitch parameters of the UAV, the overshoot of the gimbal in the pitchdirection due to the inertia when the UAV stops rotating around thepitch axis of the vehicle body can be avoided, the stability of thephotographing device provide on the gimbal can be ensured, and thestability of the photographed images of the photographing device can beimproved.

FIG. 7 is a flow chart of another example control method consistent withthe disclosure. As shown in FIG. 7 , at S701, an attitude controlcommand sent by the control terminal is received and the attitudeparameters of the gimbal are adjusted according to the attitude controlcommand.

In some embodiments, the ground control terminal, such as the remotecontroller, can be configured to adjust the attitude parameters of thegimbal. The remote controller can send the attitude control command tothe flight controller or the control circuit controlling the rotation ofthe gimbal. The attitude control command can be configured to adjust theattitude parameters of the gimbal. The attitude parameters of the gimbalcan include one or more of the yaw parameters, the pitch parameters, andthe roll parameters. When the flight controller or the control circuitcontrolling the rotation of the gimbal receives the attitude controlcommand sent by the remote controller, the attitude parameters of thegimbal can be adjusted according to the attitude control command.

In some embodiments, the attitude control command can include at leastone of a command for adjusting the angles of the attitude parameters ofthe gimbal or a command for adjusting the angular velocities of theattitude parameters of the gimbal.

The attitude control command sent by the control terminal to the flightcontroller or the control circuit controlling the rotation of the gimbalcan be a pitch control command for adjusting the pitch parameters of thegimbal, a roll control command for adjusting the roll parameters of thegimbal, or a yaw control command for adjusting the yaw parameters of thegimbal. Accordingly, when the flight controller or the control circuitcontrolling the rotation of the gimbal receives the attitude controlcommand sent by the remote controller, the flight controller or thecontrol circuit controlling the rotation of the gimbal can adjust theattitude parameters of the gimbal according to the attitude controlcommand in one of several manners, such as those described below.

An implementation manner is that the pitch control command sent by thecontrol terminal is received to adjust the pitch parameters of thegimbal.

When the user manipulates the yaw lever or the yaw button of the remotecontroller, the remote controller generates the amount of control leverdisplacement that includes angle information for adjusting the pitchangle of the gimbal, or rotation speed information for adjusting thepitch rotation speed of the gimbal rotating around the pitch axis. Theremote controller can send the amount of control lever displacement tothe flight controller or the control circuit controlling the gimbal, theflight controller or the control circuit can adjust the pitch angle ofthe gimbal according to the angle information included in the amount ofcontrol lever displacement, or control the gimbal to rotate around thepitch axis of the gimbal, according to the pitch rotation speed includedin the amount of control lever displacement.

Another implementation manner is that the roll control command sent bythe control terminal is received to adjust the roll parameters of thegimbal.

When the user manipulates the roll lever or the roll button of theremote controller, the remote controller generates the amount of controllever displacement that includes angle information for adjusting theroll angle of the gimbal, or rotation speed information for adjustingthe roll rotation speed of the gimbal rotating around the roll axis. Theremote controller can send the amount of control lever displacement tothe flight controller or the control circuit controlling the gimbal, theflight controller or the control circuit can adjust the roll angle ofthe gimbal according to the angle information included in the amount ofcontrol lever displacement, or control the gimbal to rotate around theroll axis of the gimbal, according to the roll rotation speed includedin the amount of control lever displacement.

Another implementation manner is that a yaw control command sent by thecontrol terminal is received to adjust the yaw parameters of the gimbal.

When the user manipulates the yaw lever or the yaw button of the remotecontroller, the remote controller generates the amount of control leverdisplacement that includes angle information for adjusting the yaw angleof the gimbal, or rotation speed information for adjusting the yawrotation speed of the gimbal rotating around the yaw axis. The remotecontroller can send the amount of control lever displacement to theflight controller or the control circuit controlling the gimbal, theflight controller or the control circuit can adjust the yaw angle of thegimbal according to the angle information included in the amount ofcontrol lever displacement, or control the gimbal to rotate around theyaw axis of the gimbal, according to the yaw rotation speed included inthe amount of control lever displacement.

In some other embodiments, the remote controller has two operationmodes. An operation mode is to adjust the attitude parameters of thegimbal, such as the pitch parameters, the roll parameters, and the yawparameters of the gimbal. Another operation mode is to adjust theattitude parameters of the UAV, such as the pitch parameters, the rollparameters, and the yaw parameters of the UAV. In some embodiments, theremote controller can be provided with a mode switching button or key,and the user can change the operation mode of the remote controller bypressing the mode switching button or key.

For example, the current operation mode of the remote controller is toadjust the attitude parameters of the gimbal. When the user manipulatesthe yaw lever or the yaw button of the remote controller, the remotecontroller can generate the amount of control lever displacement, andsend the amount of control lever displacement to the flight controller,and the flight controller can adjust the yaw parameters of the gimbalaccording to the amount of control lever displacement. If the userpresses the mode switching button or key, the operation mode of theremote controller can be switched to controlling the attitude parametersof the UAV. When the user manipulates the yaw lever or the yaw button ofthe remote controller, the remote controller can generate the amount ofcontrol lever displacement and send the amount of control leverdisplacement to the flight controller, and the flight controller canadjust the yaw parameters of the UAV according to the amount of controllever displacement. When the user manipulates the pitch lever or thepitch button of the remote controller, the remote controller cangenerate the amount of control lever displacement and send the amount ofcontrol lever displacement to the flight controller, and the flightcontroller can adjust the pitch parameters of the UAV according to theamount of control lever displacement. When the user manipulates the rolllever or the roll button of the remote controller, the remote controllercan generate the amount of control lever displacement and send theamount of control lever displacement to the flight controller, and theflight controller can adjust the roll parameters of the UAV according tothe amount of control lever displacement.

At S702, the attitude parameters of the gimbal provided at the UAV areobtained.

The process at S702 is the same as the process at S101, and the detailsthereof are omitted herein.

At S703, the attitude parameters of UAV are adjusted according toattitude parameters of the gimbal.

The process at S703 is the same as the process at S102, and the detailsthereof are omitted herein.

At S704, the attitude of the gimbal is controlled, such that thephotographing device provided at the gimbal performs trackingphotography on the target object.

In some embodiments, the flight controller can also control the gimbalof the UAV, such that the photographing device provided at the gimbalcan always be aimed at the target object, i.e., the tracking photographycan be performed on the target object. When the target object moves, theflight controller adjusts the gimbal, such that the photographing devicecan rotate and keep the target object on the photographing screen. Thegimbal can send its attitude parameters to the flight controller and theflight controller can control the attitude of the UAV based on theattitude parameters of the gimbal. As such, the UAV can automaticallyadjust its attitude, such that the landing gears of the UAV can beoutside the photographing screen and the gimbal can rotate without stopposition. The user does not need to manually adjust the attitude of theUAV, such that the operation process can be simplified and theprofessional requirements for the user can be reduced.

According to the disclosure, the ground control terminal can send theattitude control command to the UAV, and the flight controller in theUAV or the control circuit controlling the rotation of the gimbal canadjust the attitude parameters of the gimbal according to the attitudecontrol command, such that the control terminal can directly adjust theattitude parameters of the gimbal (for example, one or more of the yawparameters, the pitch parameters and the roll parameters), and thecontrol methods of the gimbal are enriched. Furthermore, the lag in theattitude adjustment of the gimbal relative to the attitude adjustment ofthe vehicle body of the UAV can be avoided, and the phenomenon that theimage shoot by the photographing device appears to be “not following thehands” can also be avoided. In addition, the attitude of the gimbal willno longer change along with the change of the attitude of the vehiclebody of the UAV, the problem of overshoot that the gimbal may generateunder inertia can be avoided, such that the gimbal can rotate and stopmore smoothly, the stability of the photographing device provided at thegimbal can be ensured, and the stability of the photographing screen ofthe photographing device can be improved.

FIG. 8 is a flow chart of another example control method consistent withthe disclosure. As shown in FIG. 8 , at S801, the attitude controlcommand sent by the control terminal is received.

The attitude control command includes at least one of the command foradjusting the angles of the attitude parameters of the gimbal or thecommand for adjusting the angular velocities of the attitude parametersof the gimbal.

At S802, the attitude parameters of the gimbal provided at the UAV areadjusted according to the attitude control command.

The attitude parameters can include at least one of the yaw parametersor the roll parameters.

In some embodiments, the attitude parameters can also include the pitchparameters.

The yaw parameters can include at least one of the yaw angle or the yawrotation speed.

The pitch parameters can include at least one of the pitch angle or thepitch rotation speed.

The roll parameters can include at least one of the roll angle or theroll rotation speed.

In some embodiments, receiving the attitude control command sent by thecontrol terminal, and adjusting the attitude parameters of the gimbalprovided at the UAV according to the attitude control command, caninclude at least one of the followings: receiving the pitch controlcommand sent by the control terminal to adjust the pitch parameters ofthe gimbal; receiving the roll control command sent by the controlterminal to adjust the roll parameters of the gimbal; or receiving theyaw control command sent by the control terminal to adjust the yawparameters of the gimbal.

The pitch control command can include the amount of control leverdisplacement generated by manipulating the pitch lever or the pitchbutton of the control terminal. The roll control command can include theamount of control lever displacement generated by manipulating the rolllever or the roll button of the control terminal. The yaw controlcommand can include the amount of control lever displacement generatedby manipulating the yaw lever or the yaw button of the control terminal.

The principles and implementation manners of the control method providedin FIG. 8 are similar to those of the method shown in FIG. 7 , anddetails thereof are omitted herein.

According to the disclosure, the ground control terminal can send theattitude control command to the UAV, and the flight controller in theUAV or the control circuit controlling the rotation of the gimbal canadjust the attitude parameters of the gimbal according to the attitudecontrol command, such that the control terminal can directly adjust theattitude parameters of the gimbal (for example, one or more of the yawparameters, the pitch parameters and the roll parameters), and thecontrol method of the gimbal are enriched. Furthermore, the lag in theattitude adjustment of the gimbal relative to the attitude adjustment ofthe vehicle body of the UAV can be avoided, and the phenomenon that theimage shoot by the photographing device appears to be “not following thehands” can also be avoided. In addition, the attitude of the gimbal willno longer change along with the change of the attitude of the vehiclebody of the UAV, the problem of overshoot that the gimbal may generateunder inertia can be avoided, such that the gimbal can rotate and stopmore smoothly, the stability of the photographing device provided at thegimbal can be ensured, and the stability of the photographing screen ofthe photographing device can be improved.

FIG. 9 is a flow chart of another example control method consistent withthe disclosure. As shown in FIG. 9 , at S901, the attitude controlcommand sent by the control terminal is received.

At S902, the attitude parameters of the gimbal provided at the UAV areadjusted according to the attitude control command.

At S903, the attitude parameters of the gimbal are obtained and theattitude parameters of the UAV are adjusted according to the attitudeparameters of the gimbal.

One or more of the yaw parameters, the pitch parameters and the rollparameters of the UAV are adjusted according to one or more of the yawparameters, the pitch parameters and the roll parameters of the gimbal.

In some embodiments, the attitude parameters of the UAV can be adjustedaccording to the attitude parameters of the gimbal, such that thelanding gears of the UAV can be outside the photographing range of thephotographing device provided at the gimbal.

In some other embodiments, the attitude parameters of the UAV can alsobe adjusted according to the attitude parameters of the gimbal, suchthat the gimbal can rotate without stop position.

According to the disclosure, the attitude parameters of the gimbalprovided at the UAV can be obtained and the attitude parameters of theUAV can be adjusted according to the attitude parameters of the gimbal,such that there is no stop position when the gimbal is rotating in oneor more of the yaw direction, the pitch direction, and the rolldirection of the gimbal. In addition, the attitude parameters of the UAVcan be adjusted according to the attitude parameters of the gimbal,thereby ensuring the landing gears of the UAV to be outside thephotographing screen. The user does not need to manually adjust theattitude of the UAV, such that the operation process can be simplifiedand the professional requirements for the user can be reduced.

In some embodiments, obtaining the attitude parameters of the gimbal caninclude obtaining the yaw parameters of the gimbal; accordingly,adjusting the attitude parameters of the UAV according to the attitudeparameters of the gimbal can include adjusting the yaw parameters of theUAV according to the yaw parameters of the gimbal. According to the yawparameters of the gimbal, the rotation of the UAV in the yaw directioncan be controlled, such that the UAV can follow the rotation of thegimbal. In some embodiments, the yaw angle of the UAV can be adjustedaccording to the yaw angle of the gimbal, such that the yaw angle of theUAV can be consistent with the yaw angle of the gimbal.

The principles and implementation manners of the control method providedin FIG. 9 are similar to those of the methods shown in FIGS. 1 and 4 ,and details thereof are omitted herein.

According to the disclosure, the yaw parameters of the gimbal providedat the UAV can be obtained and the yaw parameters of the UAV can beadjusted according to the yaw parameters of the gimbal, i.e., the yawparameters of the UAV can be changed as the yaw parameters of the gimbalchanges, such that the rotation of the gimbal in the yaw direction willnot be limited by the yaw parameters of the UAV, and the gimbal canrotate in the yaw direction without stop position. Furthermore, comparedto the situation that the yaw parameters of the gimbal are changedpassively with the changes of the yaw parameters of the UAV, theovershoot of the gimbal in the yaw direction due to the inertia when theUAV stops rotating around the yaw axis of the vehicle body can beavoided, the stability of the photographing device provide on the gimbalcan be ensured, and the stability of the photographed images of thephotographing device can be improved.

An example computer storage medium consistent with the disclosure can beconfigured to store program instructions. When the program is executed,some or all processes of the control methods shown in FIG. 1-7 or 8-9can be implemented.

FIG. 10 is a structural diagram of an example control apparatus 70consistent with the disclosure. As shown in FIG. 10 , the controlapparatus 70 includes an acquisition circuit 71 and a control circuit72. The acquisition circuit 71 is configured to obtain attitudeparameters of a gimbal provided at a UAV. The control circuit 72 isconfigured to adjust attitude parameters of the UAV according to theattitude parameters of the gimbal. The attitude parameters can includeone or more of yaw parameters, pitch parameters, and roll parameters.

In some embodiments, the control circuit 72 can be configured to adjustthe one or more of the yaw parameters, the pitch parameters, and theroll parameters of the UAV, according to the one or more of the yawparameters, the pitch parameters, and the roll parameters of the gimbal.

In some embodiments, the control circuit 72 can be configured to adjustthe attitude parameters of the UAV according to the attitude parametersof the gimbal, such that landing gears of the UAV are outside thephotographing range of the photographing device provided at the gimbal.

In some other embodiments, the control circuit 72 can be configured toadjust the attitude parameters of the UAV according to the attitudeparameters of the gimbal, such that there is no stop position when thegimbal is rotating.

The principles and implementation manners of the control apparatusprovided in FIG. 10 are similar to those of the control method shown inFIG. 1 , and details thereof are omitted herein.

According to the disclosure, the control apparatus can obtain theattitude parameters of the gimbal provided at the UAV and adjust theattitude parameters of the UAV according to the attitude parameters ofthe gimbal, i.e., the attitude parameters of the UAV can changepassively with the change of the attitude parameters of the gimbal, suchthat the gimbal control methods can be more simple and direct, thecontrol methods of the gimbal can be enriched, and the flexibility ofgimbal control methods can be improved. Furthermore, the lag in theattitude adjustment of the gimbal relative to the attitude adjustment ofthe vehicle body of the UAV can be avoided, and when the attitude of thegimbal changes along with the change of the attitude of the vehicle bodyof the UAV, the problem of overshoot that the gimbal may generate underinertia can be avoided, such that the gimbal can rotate and stop moresmoothly, the stability of the photographing device provided at thegimbal can be ensured, and the stability of the photographing screen ofthe photographing device can be improved.

In some embodiments, the acquisition circuit 71 can be configured toobtain the yaw parameters of the gimbal provided at the UAV. The controlcircuit 72 can be configured to adjust the yaw parameters of the UAVaccording to the yaw parameters of the gimbal. In some embodiments, therotation of the UAV in the yaw direction can be controlled according tothe yaw parameters of the gimbal, such that the UAV can rotate alongwith the rotation of the gimbal. The yaw parameters can include at leastone of the yaw angle or the yaw rotation speed. The control circuit 72can be configured to adjust the yaw angle of the UAV according to theyaw angle of the gimbal, such that the yaw angle of the UAV can beconsistent with the yaw angle of the gimbal.

The principles and implementation manners of the control apparatusdescribed above are similar to those of the control method shown in FIG.4 , and details thereof are omitted herein.

According to the disclosure, the control apparatus can obtain the yawparameters of the gimbal provided at the UAV and adjust the yawparameters of the UAV according to the yaw parameters of the gimbal,i.e., the yaw parameters of the UAV can change passively with the changeof the yaw parameters of the gimbal, such that the rotation of thegimbal in the yaw direction will not be limited by the yaw parameters ofthe UAV, and the gimbal can rotate in the yaw direction without stopposition. Furthermore, compared to the situation that the yaw parametersof the gimbal are changed passively with the changes of the yawparameters of the UAV, the overshoot of the gimbal in the yaw directiondue to the inertia when the UAV stops rotating around the yaw axis ofthe vehicle body can be avoided, such that the gimbal can rotate andstop more smoothly, the stability of the photographing device providedat the gimbal can be ensured, and the stability of the photographingscreen of the photographing device can be improved.

In some embodiments, the acquisition circuit 71 can be configured toobtain the pitch parameters of the gimbal provided at the UAV, and thecontrol circuit 72 can be configured to adjust the pitch parameters ofthe UAV according to the pitch parameters of the gimbal. The pitchparameters can include at least one of the pitch angle or the pitchrotation speed.

The principles and implementation manners of the control apparatusdescribed above are similar to those of the control method shown in FIG.5 , and details thereof are omitted herein.

According to the disclosure, the control apparatus can obtain the pitchparameters of the gimbal provided at the UAV and adjust the pitchparameters of the UAV according to the pitch parameters of the gimbal,i.e., the pitch parameters of the UAV can change passively with thechange of the pitch parameters of the gimbal, such that the rotation ofthe gimbal in the pitch direction will not be limited by the pitchparameters of the UAV, and the gimbal can rotate in the pitch directionwithout stop position. Furthermore, compared to the situation that thepitch parameters of the gimbal are changed passively with the changes ofthe pitch parameters of the UAV, the overshoot of the gimbal in thepitch direction due to the inertia when the UAV stops rotating aroundthe pitch axis of the vehicle body can be avoided, such that the gimbalcan rotate and stop more smoothly, the stability of the photographingdevice provided at the gimbal can be ensured, and the stability of thephotographing screen of the photographing device can be improved.

FIG. 11 is a structural diagram of another example control apparatus 70consistent with the disclosure. As shown in FIG. 11 , the controlapparatus 70 further includes a receive circuit 73. The receive circuit73 is configured to receive an attitude control command sent by thecontrol terminal and the control circuit 72 is further configured toadjust the attitude parameters of the gimbal according to the attitudecontrol command. The attitude control command can include at least oneof a command for adjusting the angles of the attitude parameters of thegimbal or a command for adjusting the angular velocities of the attitudeparameters of the gimbal.

In some embodiments, the receive circuit 73 can be configured to receiveat least one of a pitch control command, a roll control command, or ayaw control command sent by the control terminal. Accordingly, thecontrol circuit 72 can be configured to perform at least one of thefollowing processes: adjusting the pitch parameters of the gimbalaccording to the pitch control command sent by the control terminal,adjusting the roll parameters of the gimbal according to the rollcontrol command sent by the control terminal, or adjusting the yawparameters of the gimbal according to the yaw control command sent bythe control terminal.

In some embodiments, the pitch control command can include the amount ofcontrol lever displacement generated by manipulating the pitch lever orthe pitch button of the control terminal. The roll control command caninclude the amount of control lever displacement generated bymanipulating the roll lever or the roll button of the control terminal.The yaw control command can include the amount of control leverdisplacement generated by manipulating the yaw lever or the yaw buttonof the control terminal.

In some embodiments, the control circuit 72 can further be configured tocontrol the attitude of the gimbal, such that the photographing deviceprovided at the gimbal can perform tracking photography on the targetobject.

The principles and implementation manners of the control apparatus inFIG. 11 are similar to those of the control method shown in FIG. 7 , anddetails thereof are omitted herein.

According to the disclosure, the control apparatus can obtain theattitude control command sent by the ground control terminal and adjustthe attitude parameters of the gimbal according to the attitude controlcommand, such that the control terminal can directly adjust the attitudeparameters of the gimbal (for example, one or more of the yawparameters, the pitch parameters and the roll parameters), and thecontrol methods of the gimbal can be enriched. Furthermore, the lag inthe attitude adjustment of the gimbal relative to the attitudeadjustment of the vehicle body of the UAV can be avoided, and thephenomenon that the image shoot by the photographing device appears tobe “not following the hands” can also be avoided. In addition, theattitude of the gimbal will no longer change along with the change ofthe attitude of the vehicle body of the UAV, the problem of overshootthat the gimbal may generate under inertia can be avoided, such that thegimbal can rotate and stop more smoothly, the stability of thephotographing device provided at the gimbal can be ensured, and thestability of the photographing screen of the photographing device can beimproved.

FIG. 12 is a structural diagram of another example control apparatus 80according to the disclosure. As shown in FIG. 12 , the control apparatus80 includes a receive circuit 81 and a control circuit 82. The receivecircuit 81 is configured to receive the attitude control command sent bythe control terminal. The control circuit 82 is configured to adjust theattitude parameters of the gimbal provided at the UAV according to theattitude control command. The attitude parameters can include at leastone of the yaw parameters and the roll parameters. In some embodiments,the attitude parameters can also include the pitch parameters. In someembodiments, the yaw parameters can include at least one of the yawangle and the yaw rotation speed. The pitch parameters can include atleast one of the pitch angle and the pitch rotation speed. The rollparameters can include at least one of the roll angle and the rollrotation speed. The attitude control command includes at least one ofthe command for adjusting the angles of the attitude parameters of thegimbal or the command for adjusting the angular velocities of theattitude parameters of the gimbal.

The receive circuit 81 can be configured to receiving at least one ofthe pitch control command, the roll control command, and the yaw controlcommand sent by the control terminal. Accordingly, the control circuit82 can be configured to perform at least one of the following processes:adjusting the pitch parameters of the gimbal according to the pitchcontrol command sent by the control terminal, adjusting the rollparameters of the gimbal according to the roll control command sent bythe control terminal, or adjusting the yaw parameters of the gimbalaccording to the yaw control command sent by the control terminal. Thepitch control command can include the amount of control leverdisplacement generated by manipulating the pitch lever or the pitchbutton of the control terminal. The roll control command can include theamount of control lever displacement generated by manipulating the rolllever or the roll button of the control terminal. The yaw controlcommand can include the amount of control lever displacement generatedby manipulating the yaw lever or the yaw button of the control terminal.

The principles and implementation manners of the control apparatus inFIG. 12 are similar to those of the control method shown in FIG. 8 , anddetails thereof are omitted herein.

According to the disclosure, the control apparatus can obtain theattitude control command sent by the ground control terminal and adjustthe attitude parameters of the gimbal according to the attitude controlcommand, such that the control terminal can directly adjust the attitudeparameters of the gimbal (for example, one or more of the yawparameters, the pitch parameters and the roll parameters), and thecontrol methods of the gimbal can be enriched. Furthermore, the lag inthe attitude adjustment of the gimbal relative to the attitudeadjustment of the vehicle body of the UAV can be avoided, and thephenomenon that the image shoot by the photographing device appears tobe “not following the hands” can also be avoided. In addition, theattitude of the gimbal will no longer change along with the change ofthe attitude of the vehicle body of the UAV, the problem of overshootthat the gimbal may generate under inertia can be avoided, such that thegimbal can rotate and stop more smoothly, the stability of thephotographing device provided at the gimbal can be ensured, and thestability of the photographing screen of the photographing device can beimproved.

FIG. 13 is a structural diagram of another example control apparatus 80consistent with the disclosure. As shown in FIG. 13 , the controlapparatus 80 also includes an acquisition circuit 83. The acquisitioncircuit 83 is configured to obtain the attitude parameters of the gimbaland the control circuit 82 is configured to adjust the attitudeparameters of the UAV according to the attitude parameters of thegimbal.

In some embodiments, the control circuit 82 can be configured to adjustthe one or more of the yaw parameters, the pitch parameters, and theroll parameters of the UAV, according to the one or more of the yawparameters, the pitch parameters, and the roll parameters of the gimbal.

In some embodiments, the control circuit 82 can be configured to adjustthe attitude parameters of the UAV according to the attitude parametersof the gimbal, such that landing gears of the UAV are outside thephotographing range of the photographing device provided at the gimbal.

In some other embodiments, the control circuit 82 can be configured toadjust the attitude parameters of the UAV according to the attitudeparameters of the gimbal, such that there is no stop position when thegimbal is rotating.

In some embodiments, the acquisition circuit 83 can be configured toobtain the yaw parameters of the gimbal provided at the UAV.Accordingly, the control circuit 82 can be configured to adjust the yawparameters of the UAV according to the yaw parameters of the gimbal. Insome embodiments, the rotation of the UAV in the yaw direction can becontrolled according to the yaw parameters of the gimbal, such that theUAV can rotate along with the rotation of the gimbal. The yaw parameterscan include at least one of the yaw angle or the yaw rotation speed. Forexample, the control circuit 82 can be configured to adjust the yawangle of the UAV according to the yaw angle of the gimbal, such that theyaw angle of the UAV can be consistent with the yaw angle of the gimbal.

The principles and implementation manners of the control apparatus inFIG. 13 are similar to those of the control method shown in FIGS. 1 and4 , and details thereof are omitted herein.

FIG. 14 is a structural diagram of an example control device 90consistent with the disclosure. The control device can include theflight controller or a processing device having processing capabilities.As shown in FIG. 14 , the control device 90 includes one or moreprocessors 91 working individually or in cooperation. The one or moreprocessors 91 are configured to obtain attitude parameters of a gimbalprovided at a UAV and adjust attitude parameters of the UAV according tothe attitude parameters of the gimbal. The attitude parameters caninclude one or more of yaw parameters, pitch parameters, and rollparameters.

In some embodiments, the one or more processors 91 can be configured toadjust the one or more of the yaw parameters, the pitch parameters, andthe roll parameters of the UAV, according to the one or more of the yawparameters, the pitch parameters, and the roll parameters of the gimbal.

In some embodiments, one or more processors 91 can be configured toadjust the attitude parameters of the UAV according to the attitudeparameters of the gimbal, such that landing gears of the UAV are outsidethe photographing range of the photographing device provided at thegimbal.

In some other embodiments, one or more processors 91 can be configuredto adjust the attitude parameters of the UAV according to the attitudeparameters of the gimbal, such that there is no stop position when thegimbal is rotating.

The principles and implementation manners of the control devicedescribed above are similar to those of the control method shown in FIG.1 , and details thereof are omitted herein.

According to the disclosure, the control device can obtain the attitudeparameters of the gimbal provided at the UAV and adjust the attitudeparameters of the UAV according to the attitude parameters of thegimbal, i.e., the attitude parameters of the UAV can change passivelywith the change of the attitude parameters of the gimbal, such that thegimbal control methods can be more simple and direct, the controlmethods of the gimbal can be enriched, and the flexibility of gimbalcontrol methods can be improved. Furthermore, the lag in the attitudeadjustment of the gimbal relative to the attitude adjustment of thevehicle body of the UAV can be avoided, and when the attitude of thegimbal changes along with the change of the attitude of the vehicle bodyof the UAV, the problem of overshoot that the gimbal may generate underinertia can be avoided, such that the gimbal can rotate and stop moresmoothly, the stability of the photographing device provided at thegimbal can be ensured, and the stability of the photographing screen ofthe photographing device can be improved.

In some embodiments, the one or more processors 91 can be configured toobtain the yaw parameters of the gimbal provided at the UAV. The one ormore processors 91 can be configured to adjust the yaw parameters of theUAV according to the yaw parameters of the gimbal. In some embodiments,the rotation of the UAV in the yaw direction can be controlled accordingto the yaw parameters of the gimbal, such that the UAV can rotate alongwith the rotation of the gimbal. The yaw parameters can include at leastone of the yaw angle or the yaw rotation speed. The one or moreprocessors 91 can be configured to adjust the yaw angle of the UAVaccording to the yaw angle of the gimbal, such that the yaw angle of theUAV can be consistent with the yaw angle of the gimbal.

The principles and implementation manners of the control devicedescribed above are similar to those of the control method shown in FIG.4 , and details thereof are omitted herein.

According to the disclosure, the control device can obtain the yawparameters of the gimbal provided at the UAV and adjust the yawparameters of the UAV according to the yaw parameters of the gimbal,i.e., the yaw parameters of the UAV can change passively with the changeof the yaw parameters of the gimbal, such that the rotation of thegimbal in the yaw direction will not be limited by the yaw parameters ofthe UAV, and the gimbal can rotate in the yaw direction without stopposition. Furthermore, compared to the situation that the yaw parametersof the gimbal are changed passively with the changes of the yawparameters of the UAV, the overshoot of the gimbal in the yaw directiondue to the inertia when the UAV stops rotating around the yaw axis ofthe vehicle body can be avoided, such that the gimbal can rotate andstop more smoothly, the stability of the photographing device providedat the gimbal can be ensured, and the stability of the photographingscreen of the photographing device can be improved.

In some embodiments, the control device can be the flight controller.The one or more processors 91 can be configured to obtain the pitchparameters of the gimbal provided at the UAV, and adjust the pitchparameters of the UAV according to the pitch parameters of the gimbal.The pitch parameters can include at least one of the pitch angle or thepitch rotation speed.

The principles and implementation manners of the control devicedescribed above are similar to those of the control method shown in FIG.5 , and details thereof are omitted herein.

In some embodiments, the control device can be the flight controller.The control device 90 also includes a communication interface 92 thatcommunicates with the processor 91. The communication interface 92 isconfigured to receive an attitude control command sent by the controlterminal and the one or more processors 91 is configured to adjust theattitude parameters of the gimbal according to the attitude controlcommand. The attitude control command can include at least one of acommand for adjusting the angles of the attitude parameters of thegimbal or a command for adjusting the angular velocities of the attitudeparameters of the gimbal.

In some embodiments, the communication interface 92 can be configured toreceive at least one of a pitch control command, a roll control command,or a yaw control command sent by the control terminal. Accordingly, theone or more processors 91 can be configured to perform at least one ofthe following processes: adjusting the pitch parameters of the gimbalaccording to the pitch control command sent by the control terminal,adjusting the roll parameters of the gimbal according to the rollcontrol command sent by the control terminal, or adjusting the yawparameters of the gimbal according to the yaw control command sent bythe control terminal.

In some embodiments, the pitch control command can include manipulatingthe pitch lever or the pitch button of the control terminal to generatethe amount of control lever displacement. The roll control command caninclude manipulating the roll lever or the roll button of the controlterminal to generate the amount of control lever displacement. The yawcontrol command can include manipulating the yaw lever or the yaw buttonof the control terminal to generate the amount of control leverdisplacement.

In some embodiments, the one or more processors 91 can further beconfigured to control the attitude of the gimbal, such that thephotographing device provided at the gimbal can perform trackingphotography on the target object.

The principles and implementation manners of the control devicedescribed above are similar to those of the control method shown in FIG.7 , and details thereof are omitted herein.

In some embodiments, the control device can be the flight controller. Asshown in FIG. 14 , the control device 90 includes the one or moreprocessors 91 and the communication interfaces 92. The one or moreprocessors 91 can work individually or in cooperation and arecommunicatively connected to the communication interfaces 92. Thecommunication interfaces 92 is configured to receive the attitudecontrol command sent by the control terminal. The one or more processors91 is configured to adjust the attitude parameters of the gimbalprovided at the UAV according to the attitude control command. Theattitude parameters can include at least one of the yaw parameters andthe roll parameters.

In some embodiments, the attitude parameters can also include the pitchparameters. In some embodiments, the yaw parameters can include at leastone of the yaw angle and the yaw rotation speed. The pitch parameterscan include at least one of the pitch angle and the pitch rotationspeed. The roll parameters can include at least one of the roll angleand the roll rotation speed. The attitude control command includes atleast one of the command for adjusting the angles of the attitudeparameters of the gimbal or the command for adjusting the angularvelocities of the attitude parameters of the gimbal.

The communication interfaces 92 can be configured to receiving at leastone of the pitch control command, the roll control command, and the yawcontrol command sent by the control terminal. Accordingly, the one ormore processors 91 can be configured to perform at least one of thefollowing processes: adjusting the pitch parameters of the gimbalaccording to the pitch control command sent by the control terminal,adjusting the roll parameters of the gimbal according to the rollcontrol command sent by the control terminal, or adjusting the yawparameters of the gimbal according to the yaw control command sent bythe control terminal. The pitch control command can include the amountof control lever displacement generated by manipulating the pitch leveror the pitch button of the control terminal. The roll control commandcan include the amount of control lever displacement generated bymanipulating the roll lever or the roll button of the control terminal.The yaw control command can include the amount of control leverdisplacement generated by manipulating the yaw lever or the yaw buttonof the control terminal.

The principles and implementation manners of the control devicedescribed above are similar to those of the control method shown in FIG.8 , and details thereof are omitted herein.

According to the disclosure, the control device can obtain the attitudecontrol command sent by the ground control terminal and adjust theattitude parameters of the gimbal according to the attitude controlcommand, such that the control terminal can directly adjust the attitudeparameters of the gimbal (for example, one or more of the yawparameters, the pitch parameters and the roll parameters), and thecontrol methods of the gimbal can be enriched. Furthermore, the lag inthe attitude adjustment of the gimbal relative to the attitudeadjustment of the vehicle body of the UAV can be avoided, and thephenomenon that the image shoot by the photographing device appears tobe “not following the hands” can also be avoided. In addition, theattitude of the gimbal will no longer change along with the change ofthe attitude of the vehicle body of the UAV, the problem of overshootthat the gimbal may generate under inertia can be avoided, such that thegimbal can rotate and stop more smoothly, the stability of thephotographing device provided at the gimbal can be ensured, and thestability of the photographing screen of the photographing device can beimproved.

In some embodiments, the control device can be the flight controller.The one or more processors 91 can also be configured to obtain theattitude parameters of the gimbal and adjust the attitude parameters ofthe UAV according to the attitude parameters of the gimbal.

In some embodiments, the one or more processors 91 can be configured toadjust the one or more of the yaw parameters, the pitch parameters, andthe roll parameters of the UAV, according to the one or more of the yawparameters, the pitch parameters, and the roll parameters of the gimbal.

In some embodiments, the one or more processors 91 can be configured toadjust the attitude parameters of the UAV according to the attitudeparameters of the gimbal, such that landing gears of the UAV are outsidethe photographing range of the photographing device provided at thegimbal.

In some other embodiments, the one or more processors 91 can beconfigured to adjust the attitude parameters of the UAV according to theattitude parameters of the gimbal, such that there is no stop positionwhen the gimbal is rotating.

In some embodiments, the one or more processors 91 can be configured toobtain the yaw parameters of the gimbal provided at the UAV.Accordingly, the one or more processors 91 can be configured to adjustthe yaw parameters of the UAV according to the yaw parameters of thegimbal. In some embodiments, one or more processors 91 can be configuredto control the rotation of the UAV in the yaw direction according to theyaw parameters of the gimbal, such that the UAV can rotate along withthe rotation of the gimbal. The yaw parameters can include at least oneof the yaw angle or the yaw rotation speed. For example, the one or moreprocessors 91 can be configured to adjust the yaw angle of the UAVaccording to the yaw angle of the gimbal, such that the yaw angle of theUAV can be consistent with the yaw angle of the gimbal.

The principles and implementation manners of the control devicedescribed above are similar to those of the control method shown inFIGS. 1 and 4 , and details thereof are omitted herein.

A control terminal consistent with the disclosure can have two operationmodes. An operation mode (i.e., a gimbal control mode) is to adjust theattitude parameters of the gimbal, such as the pitch parameters, theroll parameters, and the yaw parameters of the gimbal. Another operationmode (i.e., a UAV control mode) is to adjust the attitude parameters ofthe UAV, such as the pitch parameters, the roll parameters, and the yawparameters of the UAV. In some embodiments, the control terminal can beprovided with a mode switching button or key, and the user can changethe operation mode of the remote controller by pressing the modeswitching button or key.

When the operation mode of the control terminal is to adjust theattitude parameters of the gimbal, the control terminal can send theattitude control command to the flight controller or the control circuitcontrolling the rotation of the gimbal, such that the flight controlleror the control circuit controlling the rotation of the gimbal can adjustthe attitude parameters of the gimbal according to the attitude controlcommand. The attitude control command can include at least one of acommand for adjusting the angles of the attitude parameters of thegimbal or a command for adjusting the angular velocities of the attitudeparameters of the gimbal.

The attitude control command can include one or more of a pitch controlcommand, a roll control command, or a yaw control command. If thecontrol terminal sends the pitch control command to the flightcontroller or the control circuit controlling the rotation of thegimbal, the flight controller or the control circuit controlling therotation of the gimbal can adjust the pitch parameters of the gimbal. Ifthe control terminal sends the roll control command to the flightcontroller or the control circuit controlling the rotation of thegimbal, the flight controller or the control circuit controlling therotation of the gimbal can adjust the roll parameters of the gimbal. Ifthe control terminal sends the yaw control command to the flightcontroller or the control circuit controlling the rotation of thegimbal, the flight controller or the control circuit controlling therotation of the gimbal can adjust the yaw parameters of the gimbal.

When the operation mode of the control terminal is to adjust theattitude parameters of the UAV, the control terminal can send theattitude control command to the flight controller, such that the flightcontroller can adjust the attitude parameters of the UAV according tothe attitude control command. The attitude control command can includeat least one of a command for adjusting the angles of the attitudeparameters of the UAV or a command for adjusting the angular velocitiesof the attitude parameters of the UAV.

The attitude control command can include one or more of a pitch controlcommand, a roll control command, or a yaw control command. If thecontrol terminal sends the pitch control command to the flightcontroller, the flight controller can adjust the pitch parameters of theUAV. If the control terminal sends the roll control command to theflight controller, the flight controller can adjust the roll parametersof the UAV. If the control terminal sends the yaw control command to theflight controller, the flight controller can adjust the yaw parametersof the UAV.

The pitch control command can include the amount of control leverdisplacement generated by manipulating the pitch lever or the pitchbutton of the control terminal. The roll control command can include theamount of control lever displacement generated by manipulating the rolllever or the roll button of the control terminal. The yaw controlcommand can include the amount of control lever displacement generatedby manipulating the yaw lever or the yaw button of the control terminal.

The control terminal can include, but is not limited to, a remotecontroller, a smart phone/cell phone, a tablet computer, a personaldigital assistant (PDA), a laptop, a desktop computer, a media contentplayer, a video game station/system, a virtual reality system, anaugmented reality system, a wearable device, for example, a watch, aneyeglass, a glove, a headwear (such as, for example, a hat, a helmet, avirtual reality headset, an augmented reality headset, a head mounteddevice (HMD), a headband), a pendant, an armband, a leg ring, shoes, ora vest, a gesture recognition device, a microphone, any electronicdevice that can provide or render image data, or a combination thereof.

According to the disclosure, the control terminal can send the attitudecontrol command to the UAV, and the flight controller or the controlcircuit controlling the rotation of the gimbal of the UAV can adjust theattitude parameters of the gimbal according to the attitude controlcommand, such that the control terminal can directly adjust the attitudeparameters of the gimbal. In addition, compared to that the controlterminal adjusts the attitude parameters of the UAV first and then theflight controller adjusts the attitude parameters of the gimbalaccording to the attitude parameters of the UAV, the timeliness andflexibility of the control terminal to control the gimbal can beimproved.

FIG. 15 is a structural diagram of an example UAV 100 consistent withthe disclosure. As shown in FIG. 15 , the UAV 100 includes a vehiclebody, a power system, and a control device 118. The power systemincludes at least one of motors 107, propellers 106, and an electronicgovernor 117. The power system can be provided at the vehicle body forproviding the flight power. The control device 118 can be any of thecontrol devices described in FIG. 14 . In some embodiments, the controldevice 118 can be the flight controller.

In some embodiments, as shown in FIG. 15 , the UAV 100 also includes asensor system 108, a communication system 110, a support device 102, anda photographing device 104. The sensor system can be configured todetect the speed, the acceleration, and/or the attitude parameters (suchas the pitch angle, the roll angle, the yaw angle, and/or the like) ofthe UAV or the attitude parameters (such as the pitch angle, the rollangle, the yaw angle, and/or the like of the gimbal. The support device102 can include a gimbal, and the communication system 110 can include areceiver and/or a transmitter. The receiver can be configured to receivewireless signals transmitted by an antenna 114 of a ground station 112,and the communication system 110 can also send the wireless signals(such as image information, status information of the UAV, and/or thelike) to the ground station 112.

The principles and implementation manners of the control device 118 aresimilar to those of the control device shown in FIG. 14 , and detailsthereof are omitted herein.

The disclosed systems, apparatuses, and methods may be implemented inother manners not described here. For example, the devices describedabove are merely illustrative. For example, the division of units mayonly be a logical function division, and there may be other ways ofdividing the units. For example, multiple units or components may becombined or may be integrated into another system, or some features maybe ignored, or not executed. Further, the coupling or direct coupling orcommunication connection shown or discussed may include a directconnection or an indirect connection or communication connection throughone or more interfaces, devices, or units, which may be electrical,mechanical, or in other form.

The units described as separate components may or may not be physicallyseparate, and a component shown as a unit may or may not be a physicalunit. That is, the units may be located in one place or may bedistributed over a plurality of network elements. Some or all of thecomponents may be selected according to the actual needs to achieve theobject of the present disclosure.

In addition, the functional units in the various embodiments of thepresent disclosure may be integrated in one processing unit, or eachunit may be an individual physically unit, or two or more units may beintegrated in one unit.

A method consistent with the disclosure can be implemented in the formof computer program stored in a non-transitory computer-readable storagemedium, which can be sold or used as a standalone product. The computerprogram can include instructions that enable a computer device, such asa personal computer, a server, or a network device, to perform part orall of a method consistent with the disclosure, such as one of theexample methods described above. The storage medium can be any mediumthat can store program codes, for example, a USB disk, a mobile harddisk, a read-only memory (ROM), a random access memory (RAM), a magneticdisk, or an optical disk.

It will be apparent to those skilled in the art that the division of theabove functional modules are considered as example only for theconvenience and conciseness of the description. In practicalapplications, the above functions can be allocated to differentfunctional modules according to the requirements. That is, the internalstructure of the device can be divided into different functional modulesto complete some or all of the functions described above.

Other embodiments of the disclosure will be apparent to those skilled inthe art from consideration of the specification and practice of theembodiments disclosed herein. It is intended that the specification andexamples be considered as example only and not to limit the scope of thedisclosure, with a true scope and spirit of the invention beingindicated by the following claims. Other modifications of, orequivalents to the disclosed embodiments are intended to be encompassedwithin the scope of the present disclosure.

What is claimed is:
 1. A control method of an unmanned aerial vehicle(UAV) performed by a control device, comprising: obtaining one or moreattitude parameters of a gimbal of the UAV, the gimbal being configuredto carry a photographing device, the one or more attitude parameters ofthe gimbal including a yaw parameter of the gimbal; and adjusting, withaid of a power system of the UAV provided at a vehicle body of the UAV,one or more attitude parameters of the vehicle body according to the oneor more attitude parameters of the gimbal, including: controlling, withaid of the power system, the vehicle body to rotate in a yaw directionaccording to the yaw parameter of the gimbal, to cause the vehicle bodyto rotate along with the gimbal.
 2. The method of claim 1, whereinadjusting the one or more attitude parameters of the vehicle bodyfurther includes: adjusting the one or more attitude parameters of thevehicle body according to the one or more attitude parameters of thegimbal to prevent landing gears of the UAV to be in a photographingrange of a photographing device carried by the gimbal.
 3. The method ofclaim 1, wherein adjusting the one or more attitude parameters of thevehicle body further includes: adjusting the one or more attitudeparameters of the vehicle body according to the one or more attitudeparameters of the gimbal to prevent the gimbal from reaching stopposition while rotating.
 4. The method of claim 1, wherein the one ormore attitude parameters of the gimbal further include at least one of apitch parameter or a roll parameter of the gimbal, and the one or moreattitude parameters of the vehicle body include at least one of a yawparameter, a pitch parameter, or a roll parameter of the vehicle body.5. The method of claim 4, wherein: the yaw parameter of the gimbalincludes at least one of a yaw angle or a yaw rotation speed of thegimbal; the pitch parameter of the gimbal includes at least one of apitch angle or a pitch rotation speed of the gimbal; the roll parameterof the gimbal includes at least one of a roll angle or a roll rotationspeed of the gimbal; the yaw parameter of the vehicle body includes atleast one of a yaw angle or a yaw rotation speed of the vehicle body;the pitch parameter of the vehicle body includes at least one of a pitchangle or a pitch rotation speed of the vehicle body; and the rollparameter of the vehicle body includes at least one of a roll angle or aroll rotation speed of the vehicle body.
 6. The method of claim 1,wherein controlling the vehicle body to rotate in the yaw directionincludes: adjusting a yaw angle of the vehicle body according to a yawangle of the gimbal, to maintain the yaw angle of the vehicle body to beconsistent with the yaw angle of the gimbal.
 7. The method of claim 1,further comprising: receiving an attitude control command sent by acontrol terminal; and adjusting the one or more attitude parameters ofthe gimbal according to the attitude control command.
 8. The method ofclaim 7, wherein the attitude control command includes at least one of:a command for adjusting one or more angles of the one or more attitudeparameters of the gimbal; or a command for adjusting one or more angularvelocities of the one or more attitude parameters of the gimbal.
 9. Themethod of claim 7, adjusting the one or more attitude parameters of thegimbal according to the attitude control command includes: adjusting theyaw parameter of the gimbal based on a yaw control command sent by thecontrol terminal; adjusting a roll parameter of the gimbal based on aroll control command sent by the control terminal; and adjusting a pitchparameter of the gimbal based on a pitch control command sent by thecontrol terminal.
 10. The method of claim 9, wherein: the pitch controlcommand includes an amount of pitch control lever displacement generatedby manipulating a pitch lever or a pitch button of the control terminal;the yaw control command includes an amount of yaw control leverdisplacement generated by manipulating a yaw lever or a yaw button ofthe control terminal; and the roll control command includes an amount ofroll control lever displacement generated by manipulating a roll leveror a roll button of the control terminal.
 11. A control devicecomprising: one or more processors individually or collectivelyconfigured to: obtain one or more attitude parameters of a gimbal of anunmanned aerial vehicle (UAV), wherein obtaining the one or moreattitude parameters of the gimbal includes obtaining a yaw parameter ofthe gimbal, and the UAV including: a vehicle body; a power systemprovided at the vehicle body and configured to provide flight power forthe UAV, the power system including a motor and a propeller; and thegimbal provided at the vehicle body and configured to connect aphotographing device to the vehicle body; and adjust, with aid of thepower system, one or more attitude parameters of the vehicle bodyaccording to the one or more attitude parameters of the gimbal,including: controlling, with aid of the power system, the vehicle bodyto rotate in a yaw direction according to the yaw parameter of thegimbal, to cause the vehicle body to rotate along with the gimbal. 12.The control device of claim 11, wherein the one or more processors arefurther configured to: adjust the one or more attitude parameters of thevehicle body according to the one or more attitude parameters of thegimbal to prevent landing gears of the UAV to be in a photographingrange of a photographing device carried by the gimbal.
 13. The controldevice of claim 11, wherein the one or more processors are furtherconfigured to: adjust the one or more attitude parameters of the vehiclebody according to the one or more attitude parameters of the gimbal toprevent the gimbal from reaching a stop position while rotating.
 14. Thecontrol device of claim 11, wherein the one or more attitude parametersof the vehicle body include at least one of a yaw parameter, a pitchparameter, or a roll parameter of the vehicle body, and the one or moreattitude parameters of the gimbal further include at least one of apitch parameter or a roll parameter of the gimbal.
 15. The controldevice of claim 14, wherein: the yaw parameter of the gimbal includes atleast one of a yaw angle or a yaw rotation speed of the gimbal; thepitch parameter of the gimbal includes at least one of a pitch angle ora pitch rotation speed of the gimbal; the roll parameter of the gimbalincludes at least one of a roll angle or a roll rotation speed of thegimbal; the yaw parameter of the vehicle body includes at least one of ayaw angle or a yaw rotation speed of the vehicle body; the pitchparameter of the vehicle body includes at least one of a pitch angle ora pitch rotation speed of the vehicle body; and the roll parameter ofthe vehicle body includes at least one of a roll angle or a rollrotation speed of the vehicle body.
 16. The control device of claim 11,wherein the one or more processors are further configured to: adjust ayaw angle of the vehicle body according to a yaw angle of the gimbal tomaintain the yaw angle of the vehicle body to be consistent with the yawangle of the gimbal.
 17. The control device of claim 11, furthercomprising: a communication interface communicatively connected to theone or more processors and configured to receive an attitude controlcommand sent by a control terminal; wherein the one or more processorsare further configured to adjust the one or more attitude parameters ofthe gimbal according to the attitude control command.
 18. The controldevice of claim 17, wherein the attitude control command includes atleast one of: a command for adjusting one or more angles of the attitudeparameters of the gimbal; a command for adjusting one or more angularvelocities of the attitude parameters of the gimbal.
 19. The controldevice of claim 17, the one or more processors are further configuredto: adjust the yaw parameter of the gimbal based on a yaw controlcommand sent by the control terminal; adjust a roll parameter of thegimbal based on a roll control command sent by the control terminal; andadjust a pitch parameter of the gimbal based on a pitch control commandsent by the control terminal.
 20. The control device of claim 19,wherein: the pitch control command includes an amount of pitch controllever displacement generated by manipulating a pitch lever or a pitchbutton of the control terminal; the yaw control command includes anamount of yaw control lever displacement generated by manipulating a yawlever or a yaw button of the control terminal; and the roll controlcommand includes an amount of roll control lever displacement generatedby manipulating a roll lever or a roll button of the control terminal.